MPU9250 driver

Collaboration diagram for MPU9250 driver:

Data Structures
struct	mpu9250_accel
struct	mpu9250_gyro
struct	mpu9250
struct	mpu9250_vector

Macros
#define	MPU_GRAVITY   16384
#define	MPU9250_ADDDEV(id)
#define	MPU9250_ID(id)   HAL_GET_ID(hal, mpu9250, mpu9250_##id)

Functions
struct mpu9250 *	mpu9250_init (uint32_t index, struct spi *spi, uint8_t cs, uint16_t gpio, TickType_t waittime)
int32_t	mpu9250_deinit (struct mpu9250 *mpu)
int32_t	mpu9250_reset (struct mpu9250 *mpu, TickType_t waittime)
int32_t	mpu9250_getAccel (struct mpu9250 *mpu, struct mpu9250_vector *vec, TickType_t waittime)
int32_t	mpu9250_getGyro (struct mpu9250 *mpu, struct mpu9250_vector *vec, TickType_t waittime)

Detailed Description

#include <mpu9250.h>

This is the MPU9250 Driver.

Macro Definition Documentation

MPU9250_ADDDEV

#define MPU9250_ADDDEV

(

id

)

Value:

                struct mpu9250 mpu9250_##id; \
                struct mpu9250_accel mpu9250_accel_##id = { \
                        ACCEL_INIT_DEV(mpu9250) \
                        HAL_NAME("MPU9250 " #id " Accelerator") \
                        .mpu = &mpu9250_##id, \
                        .accelBasis = {0, 0, 0}, \
                };\
                struct mpu9250_gyro mpu9250_gyro_##id = { \
                        GYRO_INIT_DEV(mpu9250) \
                        HAL_NAME("MPU9250 " #id " Gyro") \
                        .mpu = &mpu9250_##id, \
                        .gyroBasis = {0, 0, 0}, \
                };\
                struct mpu9250 mpu9250_##id = { \
                        HAL_NAME("MPU9250 " #id) \
                        .gen.init = false, \
                        .slave = NULL, \
                        .accel = &mpu9250_accel_##id, \
                        .gyro = &mpu9250_gyro_##id, \
                        .bank = 0, \
                }; \
                ACCEL_ADDDEV(mpu9250, mpu9250_accel_##id); \
                GYRO_ADDDEV(mpu9250, mpu9250_gyro_##id); \
                HAL_ADD(mpu9250, mpu9250_##id)

The Number of MPU9250 is Board spezific, the User Code must Call this Macro to define a new MPU9250 dev

Warning

do not use the created Variable directly! Use the init function!

Parameters

id	Unique identifier

MPU9250_ID

#define MPU9250_ID

(

id

)

HAL_GET_ID(hal, mpu9250, mpu9250_##id)

Get MPU9250 based on id

MPU_GRAVITY

#define MPU_GRAVITY   16384

MPU9250 Gravity Constant

Function Documentation

mpu9250_deinit()

int32_t mpu9250_deinit

(

struct mpu9250 *

mpu

)

Deinit MPU9250 Instance

Parameters

mpu	MPU9250 Instance

Returns

-1 on error 0 on ok

mpu9250_getAccel()

int32_t mpu9250_getAccel	(	struct mpu9250 *	mpu,
		struct mpu9250_vector *	vec,
		TickType_t	waittime
	)

Get actual Accelerator Value

Parameters

mpu	MPU9250 Instance
vec	Value
waittime	max waittime in mutex or isr lock see xSemaphoreTake()

Returns

-1 on error 0 on ok

mpu9250_getGyro()

int32_t mpu9250_getGyro	(	struct mpu9250 *	mpu,
		struct mpu9250_vector *	vec,
		TickType_t	waittime
	)

Get actual Gyroscope Value

Parameters

mpu	MPU9250 Instance
vec	Value
waittime	max waittime in mutex or isr lock see xSemaphoreTake()

Returns

-1 on error 0 on ok

mpu9250_init()

struct mpu9250* mpu9250_init	(	uint32_t	index,
		struct spi *	spi,
		uint8_t	cs,
		uint16_t	gpio,
		TickType_t	waittime
	)

MPU9250 init

Parameters

index	Driver Index
waittime	max waittime in mutex or isr lock see xSemaphoreTake()
spi	SPI Device
cs	CS Number or SPI_OPT_CS_DIS
gpio	GPIO Pin Number or SPI_OPT_GPIO_DIS

Returns

MPU9250 Instance or NULL on error

mpu9250_reset()

int32_t mpu9250_reset	(	struct mpu9250 *	mpu,
		TickType_t	waittime
	)

Reset MPU9250

Parameters

mpu	MPU9250 Instance
waittime	max waittime in mutex or isr lock see xSemaphoreTake()

Returns

-1 on error 0 on ok